The biggest change to the proposed node is a restructuring of the sonar code style. Two services (sonar_toggle and sonar_set_scan) allow another node to turn the sonar on and off. The sonar constantly scans, keeps track of its position, and publishes all its readings in the topic sonar_direction.msg....

Created first version of git repository; added libscout and motors packages.

The repository root is the ros directory, which contains the ROS stack for the scout project.The included files are those that ROS creates with a new stack or package, and those created manually. Files created during compilation are not included....